diff --git a/.gitignore b/.gitignore
index f8b73e7..e3406be 100644
--- a/.gitignore
+++ b/.gitignore
@@ -138,3 +138,4 @@ dmypy.json
 # Cython debug symbols
 cython_debug/
 
+.idea/
diff --git a/data/slam_demo_floor_plan.png b/data/slam_demo_floor_plan.png
new file mode 100644
index 0000000..40b23a6
Binary files /dev/null and b/data/slam_demo_floor_plan.png differ
diff --git a/dev_requirements.in b/dev_requirements.in
new file mode 100644
index 0000000..d4604c7
--- /dev/null
+++ b/dev_requirements.in
@@ -0,0 +1,3 @@
+black
+pip-tools
+pytest
\ No newline at end of file
diff --git a/dev_requirements.txt b/dev_requirements.txt
new file mode 100644
index 0000000..997b844
--- /dev/null
+++ b/dev_requirements.txt
@@ -0,0 +1,46 @@
+#
+# This file is autogenerated by pip-compile
+# To update, run:
+#
+#    pip-compile dev_requirements.in
+#
+appdirs==1.4.4
+    # via black
+attrs==21.2.0
+    # via pytest
+black==21.5b2
+    # via -r dev_requirements.in
+click==8.0.1
+    # via
+    #   black
+    #   pip-tools
+iniconfig==1.1.1
+    # via pytest
+mypy-extensions==0.4.3
+    # via black
+packaging==20.9
+    # via pytest
+pathspec==0.8.1
+    # via black
+pep517==0.10.0
+    # via pip-tools
+pip-tools==6.1.0
+    # via -r dev_requirements.in
+pluggy==0.13.1
+    # via pytest
+py==1.10.0
+    # via pytest
+pyparsing==2.4.7
+    # via packaging
+pytest==6.2.4
+    # via -r dev_requirements.in
+regex==2021.4.4
+    # via black
+toml==0.10.2
+    # via
+    #   black
+    #   pep517
+    #   pytest
+
+# The following packages are considered to be unsafe in a requirements file:
+# pip
diff --git a/requirements.in b/requirements.in
new file mode 100644
index 0000000..e69de29
diff --git a/slam/__init__.py b/slam/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/slam/environment.py b/slam/environment.py
new file mode 100644
index 0000000..e69de29
diff --git a/slam/main.py b/slam/main.py
new file mode 100644
index 0000000..e69de29
diff --git a/slam/sensors.py b/slam/sensors.py
new file mode 100644
index 0000000..e69de29